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Laplace tenemos: [
u ( t ) =K p e ( t )+
1
Ti
e ( t ) dt+T d
dt ]
de(t ) 1
+ v ( t ) dt
Tt
[
U ( s )=K p E ( s ) +
1
sT i ]
E ( s ) + sT d E (s ) +
1
sT t
V (s)
1z1
Ahora discretizamos con s= T
[
U ( z ) =K p E ( z ) +
T
1
(1z )T i
E ( z ) +(
1z1
T
)T E(z ) +
d
T
1
(1z )T t ]
V (z )
[ ]
1
1 T
1 1 1z T
(1z ) U ( z )=K p (1z ) E ( z ) + E ( z ) +(1z )( )T E( z ) + V ( z)
Ti T d Tt
[
(1z1) U ( z )=K p (1z1 ) E ( z ) +
T
Ti
T T
E ( z ) + d (12 z1z2) E(Z) + V (z )
T Tt ]
[
U (z )z1 U ( z )=K p (1z1 )E ( z ) +
T
Ti
T T
E ( z ) + d (12 z1z2) E( Z) + V ( z )
T Tt ]
Aplicamos la transformada inversa y se tiene:
[
u ( k )=u ( k1 ) + K p e ( k )e(k1)+
T
Ti
T
] T
e ( k ) + d (e ( k )2 e ( k1 ) + e(k2)) + v (k )
T Tt
1
G p= 3 2
s +s +2 s+1
1
=
( 0.07 )
ln
=0.646
Asi, con Mp=7% y tss=9 L
ln ( 0.07 )+
12 2
4 4
n= = =0.687
t ss L 90.646
( 0.687 )2 0.473
Gd = 2 2
= 2
s +20.6460.687 s+ ( 0.687 ) s +0.443 s+0.47 3
U (s ) 1
PID=Gc ( s )= =K p (1+ + s T d)
E (s ) sTi
Con Td=0
1
K p( + 1)
0.473 sTi K pT i s+ K p
2
= 3 2 = 4 3 2
s +0.443 s+0.73 s + s +2 s +1 T i s +T i s +2T is +T i s
Kp=0.473
Sin anti-windup
Primero hallamos la matriz de transferencia.
Y (S)
=C (sI A)1 B+ D
U (S)
[
0.1689 (s 4 +79.6062 s 32319.43 s 234.7386 s7.587) 0.2514 (s 4 15.5829 s3161.
Y (s) (s22.689)( s4 + 2.22559 s3 41.75 37 s 20.619544 s0.1313) (s22.689)( s 4+ 2.20552 s3 4
=
U (s) 17.251(s 2 +1.7797 s +0.019886) 1.57 (s2 +8.2548 s
s 4 +2.225 s 341.7537 s 20.6195 s0.1313 s 4 +2.22 559 s 341.7537 s2
1
Donde ()=(1 z )(), por lo tanto:
A(z)=
1 2 3 4 1 2 3 4 5
14.188 z +6.177 z 3.789 z +0.8005 z z +4.188 z 6.177 z +3.789 z 0.8005 z
1
Gd=
s+1
Step Response
1
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 1 2 3 4 5 6 7 8 9
Time (seconds)
Si discretizamos la funcin tenemos podemos hallar F(z) y G(z):
1
G(z)=1-0.9048 z
Para perturbaciones.
Definimos un Mp=10% de sobre impulso y tss=8 segundos de tiempo de
estabilizacin.
De esta manera:
1
=
(
ln
0.1 )
=0.5911
L
ln ( 0.1 )+
2 1 2
4 4
n= = =0.8458
t ss L 80.5911
( 0.8458 )2 0.7153
Gd = 2 2
= 2
s +20.59110.8458 s+ ( 0.8458 ) s +0.999 s+0.7153
Discretizamos y obtenemos C(z) y P(z)
Step Response
1.4
1.2
0.8
Amplitude
0.6
0.4
0.2
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
' 1 2 3
S ( z )=1+ s1 z + s2 z + s 3 z
R ( z ) =r 0 +r 1 z 1 +r 3 z3 +r 4 z 4